Robot Vision System based on a 3D-TOF Camera

Stereo vision is widely used and well known for many 3D image applications. In this paper a 3D time-of-flight system will be introduced which is integrated into a robot vision system. The pro and cons of the system in comparison to stereo vision are discussed and the basic equations needed for acquiring the range information are derived. Moreover object segmentation algorithms working on the range data are presented and experimental results verify the function of the proposed robot vision system.